function [occupied_map, available_map] = update_maps(new_center, occupied_map, available_map, X, Y, EMSD)
mask_occupied = sqrt((X - new_center(1)).^2 + (Y - new_center(2)).^2) <= EMSD/2;
occupied_map = occupied_map | mask_occupied;

mask_unavailable = sqrt((X - new_center(1)).^2 + (Y - new_center(2)).^2) < EMSD-1;
available_map = available_map & ~mask_unavailable;
end